CN115088500B - Pruning system for fruit trees and using method - Google Patents
Pruning system for fruit trees and using method Download PDFInfo
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- CN115088500B CN115088500B CN202211022731.7A CN202211022731A CN115088500B CN 115088500 B CN115088500 B CN 115088500B CN 202211022731 A CN202211022731 A CN 202211022731A CN 115088500 B CN115088500 B CN 115088500B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
- A01G3/085—Motor-driven saws for pruning or branching
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/002—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees for comminuting plant waste
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/02—Secateurs; Flower or fruit shears
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G7/00—Botany in general
- A01G7/06—Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants
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- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention relates to the field of gardening and provides a pruning system for fruit trees and a using method thereof. The pruning system for the fruit trees comprises an unmanned aerial vehicle, a pruning system and a pruning system, wherein the unmanned aerial vehicle is used for acquiring parameter information of the fruit trees; the robot is provided with a control part, the control part is in communication connection with the unmanned aerial vehicle to acquire parameter information, and the robot is suitable for moving based on the parameter information; the robot further comprises a chassis, and a pruning arm and a recovery arm which are arranged on the chassis, wherein the pruning arm is suitable for pruning the branches, and the recovery arm is suitable for recovering the branches sheared by the pruning arm. This a pruning system for fruit tree can reduce the labour of manual work pruning orchard, can also improve the efficiency of pruning to the orchard, promotes this pruning system's intelligent degree.
Description
Technical Field
The invention relates to the field of gardening and provides a fruit tree trimming system and a using method thereof.
Background
Orchard pruning is an important management measure, and generally comprises summer pruning and winter pruning. The quality of the pruning technology directly affects the yield and the quality, and greatly affects the income of growers. Currently, orchard pruning is still generally carried out manually in China, but manual pruning can influence orchard pruning efficiency.
In the related art, a trimming robot is used instead of manual trimming, but the trimming robot still needs to be manually controlled remotely to realize trimming. Meanwhile, most of the pruning robots only have a pruning function, do not have the capability of judging a pruning scheme according to the tree age and do not have the branch processing capability after pruning.
Disclosure of Invention
The present invention has been made to solve at least one of the problems occurring in the related art. Therefore, the embodiment of the first aspect of the invention provides a trimming system for fruit trees, which can reduce the labor force for manually trimming an orchard, can improve the efficiency of trimming the orchard, and can improve the intelligence degree of the trimming system.
The embodiment of the second aspect of the invention also provides a use method of the pruning system for the fruit tree.
In a first aspect, an embodiment of the present invention provides a trimming system for fruit trees, including:
the unmanned aerial vehicle is used for acquiring parameter information of the fruit trees;
the robot is provided with a control part, the control part is in communication connection with the unmanned aerial vehicle to acquire the parameter information, and the robot is suitable for moving based on the parameter information;
the robot further comprises a chassis, and a pruning arm and a recovery arm which are arranged on the chassis, wherein the pruning arm is suitable for pruning the branches, and the recovery arm is suitable for recovering the branches sheared by the pruning arm.
According to the pruning system for fruit trees provided by the embodiment of the first aspect of the present invention, by setting the unmanned aerial vehicle, parameter information of the fruit trees, such as longitude and latitude, altitude, orchard outline, number of fruit trees, positioning information of each fruit tree, crown width of each fruit tree, and the like of the orchard can be obtained by the unmanned aerial vehicle, and the robot is provided with a control part, and the control part can control the robot to move relative to the fruit trees based on the parameter information. When the robot moves to the position near a fruit tree, the branches can be trimmed by the aid of the trimming arm, and the branches trimmed by the trimming arm can be clamped and recovered by the aid of the recovery arm. The recovered branches can be temporarily stored on a chassis of the robot and conveyed to a designated place by the robot, and can also be directly crushed on the robot to achieve the purposes of preserving water and moisture, suppressing weeds and reducing the occurrence of orchard diseases and insect pests. Through the setting mode, the labor force for manually trimming the orchard can be reduced, the efficiency of trimming the orchard can be improved, and the intelligent degree of the trimming system is improved.
According to an embodiment of the invention, the robot further comprises an image acquisition device, the image acquisition device is mounted on the chassis, the control part is in communication connection with the image acquisition device to adjust the working mode of the image acquisition device, the image acquisition device is suitable for acquiring image information of branches, and the pruning arm and the recovery arm are suitable for acting based on the image information.
According to one embodiment of the invention, a spray device is provided on at least one of the trimming arm and the recovery arm;
the working modes comprise:
a remote mode in which the robot is adapted to move based on the parameter information and the image information;
a near-end mode in which the cropping arm and the recycling arm are adapted to act based on the image information;
and in the macro mode, the spraying device is suitable for spraying the cut branches based on the image information.
According to one embodiment of the invention, the end part of the recovery arm is provided with a clamping assembly, the clamping assembly comprises at least two clamping pieces, and the at least two clamping pieces are rotatably arranged at the end part of the recovery arm so as to clamp the branches cut by the trimming arm based on the image information.
According to one embodiment of the invention, the chassis is provided with a containing cavity, a smashing device is arranged in the containing cavity, and after at least two clamping pieces clamp branches, the smashing device is used for smashing the branches clamped by the clamping pieces.
According to one embodiment of the invention, the trimming arm comprises:
the pruning shears are movably connected to the end parts of the pruning arms;
a hand saw telescopically connected to an end of the trimming arm;
the secateurs and the hand saw are adapted to act relative to a twig based on the image information.
According to one embodiment of the invention, the chassis is provided with an installation cavity, at least two groups of batteries are arranged in the installation cavity, the at least two groups of batteries are in communication connection with the control part, the control part is used for acquiring the electric quantity information of the at least two groups of batteries, and the unmanned aerial vehicle is suitable for replacing the batteries based on the electric quantity information.
According to one embodiment of the invention, the chassis is provided with a travelling wheel, the travelling wheel is provided with a stud, and the stud can be switched between an extending position and a retracting position, the stud protrudes out of the surface of the travelling wheel at the extending position, and the stud retracts into the travelling wheel and is flush with the surface of the travelling wheel at the retracting position.
In a second aspect, an embodiment of the present invention provides a method for using a pruning system for fruit trees, including:
acquiring parameter information of the fruit trees based on the unmanned aerial vehicle;
adjusting the relative position of the robot and the fruit tree based on the parameter information;
and adjusting the working states of the trimming arm and the recovery arm based on the relative position of the robot and the fruit tree.
According to the method for using the trimming system for fruit trees provided by the embodiment of the second aspect of the invention, the unmanned aerial vehicle can acquire parameter information of the fruit trees, such as longitude and latitude, altitude, orchard outline, number of fruit trees, positioning information of each fruit tree, crown width of each fruit tree and the like, and the robot can move relative to the fruit trees based on the parameter information. When the robot moves to the position near the fruit tree, the pruning arm and the recovery arm can prune the branches based on the relative positions of the robot and the fruit tree, and meanwhile, the branches pruned by the pruning arm can be clamped and recovered. The use method of the pruning system for the fruit trees can reduce labor force for manually pruning the orchard, can improve the pruning efficiency for the orchard, and improves the intelligent degree of the pruning system.
According to an embodiment of the present invention, further comprising:
and determining the working state of the unmanned aerial vehicle relative to the battery based on the electric quantity information of the battery.
One or more technical solutions in the embodiments of the present invention at least have one of the following technical effects:
according to the pruning system for fruit trees provided by the embodiment of the first aspect of the present invention, by setting the unmanned aerial vehicle, parameter information of the fruit trees, such as longitude and latitude, altitude, orchard outline, number of fruit trees, positioning information of each fruit tree, crown width of each fruit tree, and the like of the orchard can be obtained by the unmanned aerial vehicle, and the robot is provided with a control part, and the control part can control the robot to move relative to the fruit trees based on the parameter information. When the robot moves to the position near a fruit tree, the branches can be trimmed by the aid of the trimming arm, and the branches trimmed by the trimming arm can be clamped and recovered by the aid of the recovery arm. The recovered branches can be temporarily stored on a chassis of the robot and conveyed to a designated place by the robot, and can also be directly crushed on the robot to achieve the purposes of preserving water and moisture, suppressing weeds and reducing the occurrence of orchard diseases and insect pests. Through the setting mode, the labor force for manually trimming the orchard can be reduced, the efficiency of trimming the orchard can be improved, and the intelligent degree of the trimming system is improved.
Further, according to the method for using the pruning system for fruit trees provided by the embodiment of the second aspect of the present invention, the unmanned aerial vehicle can obtain parameter information of the fruit trees, such as longitude and latitude, altitude, orchard outline, number of fruit trees, positioning information of each fruit tree, and crown of each fruit tree, and the robot can move relative to the fruit trees based on the parameter information. When the robot moves to the position near the fruit tree, the pruning arm and the recovery arm can prune the branches based on the relative positions of the robot and the fruit tree, and meanwhile, the branches pruned by the pruning arm can be clamped and recovered. The use method of the pruning system for the fruit trees can reduce labor force for manually pruning the orchard, can improve the pruning efficiency for the orchard, and improves the intelligent degree of the pruning system.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic block diagram of an angle of a trimming system for fruit trees according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of another angle of the pruning system for fruit trees provided by the embodiment of the invention;
FIG. 3 is a schematic top view of a trimming system for fruit trees provided by an embodiment of the present invention;
FIG. 4 is a schematic flow chart of a method for using the pruning system for fruit trees provided by the embodiment of the invention;
fig. 5 is a schematic structural diagram of an electronic device provided in an embodiment of the present invention.
Reference numerals:
500. a robot; 502. a control unit; 504. a chassis; 506. trimming the arm; 508. a recovery arm; 510. an image acquisition device; 512. a spraying device; 514. a clamping member; 516. an accommodating chamber; 518. a crushing device; 520. pruning; 522. hand sawing; 524. a mounting cavity; 526. a battery; 528. a traveling wheel; 530. nailing columns; 532. a processor; 534. a communication interface; 536. a memory; 538. a communication bus.
Detailed Description
Embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in fig. 1 to 3, a first aspect embodiment of the present invention provides a pruning system for fruit trees, including an unmanned aerial vehicle and a robot 500; the unmanned aerial vehicle is used for acquiring parameter information of the fruit trees; the robot 500 is provided with a control part 502, the control part 502 is in communication connection with the unmanned aerial vehicle to acquire parameter information, and the robot 500 is suitable for moving based on the parameter information; the robot 500 further comprises a chassis 504, and a trimming arm 506 and a recovery arm 508 arranged on the chassis 504, the trimming arm 506 being adapted to trim the branches, and the recovery arm 508 being adapted to recover the branches trimmed by the trimming arm 506.
According to the trimming system for fruit trees provided by the embodiment of the first aspect of the present invention, by providing the unmanned aerial vehicle, parameter information of the fruit trees, such as longitude and latitude, altitude, orchard outline, number of fruit trees, positioning information of each fruit tree, and crown of each fruit tree, can be obtained by the unmanned aerial vehicle, and the robot 500 is provided with the control part 502, and the control part 502 can control the robot 500 to move relative to the fruit trees based on the parameter information. When the robot 500 moves to the vicinity of a fruit tree, branches can be trimmed by arranging the trimming arm 506, and the branches trimmed by the trimming arm 506 can be clamped and recovered by arranging the recovery arm 508. The recovered branches can be temporarily stored on a chassis 504 of the robot 500 and conveyed to a designated place by the robot 500, and can also be directly crushed on the robot 500 to achieve the purposes of water retention and soil moisture conservation, weed suppression and orchard pest and disease damage reduction. Through the setting mode, the labor force for manually trimming the orchard can be reduced, the efficiency for trimming the orchard can be improved, and the intelligent degree of the trimming system is improved.
With continuing reference to fig. 1 to fig. 3, the trimming system for fruit trees mainly includes an unmanned aerial vehicle and a robot 500, wherein the unmanned aerial vehicle is used for collecting parameter information of the fruit trees, and the parameter information of the fruit trees mentioned herein may be parameter information of longitude and latitude, altitude, orchard outline, number of fruit trees, positioning information of each fruit tree, and crown width of each fruit tree.
When in actual use, the unmanned aerial vehicle can carry out the field aerial photography tour, acquires orchard boundary, fruit tree planting quantity, different crown width tree body proportion statistical data and the like. Meanwhile, the unmanned aerial vehicle can also send the collected parameter information of the fruit trees to the mobile phone in the flight process, so that the user can check the parameter information of the fruit trees at a mobile phone client in real time.
In the embodiment of the invention, the mobile phone can mainly realize the following functions:
1. acquiring basic orchard planting data, such as longitude and latitude, altitude information and the like of an orchard, through GPS positioning information of a mobile phone;
2. viewing a satellite map through a mobile phone, sketching the boundary of a garden plot and defining a flight range for the unmanned aerial vehicle;
3. through the data filling function, a user can fill tree age, fertilizing amount of an orchard in the last three years, yield of the orchard in the last three years and fertilizing amount information of the orchard in the current year;
4. and outputting various data (such as working state display of the robot 500, battery charging and replacing working display, unmanned aerial vehicle working control and state display, robot 500 trimming working progress display, manual planning control of the traveling path of the robot 500 and the like).
Continuing with reference to fig. 1-3, a robot 500 is used to effect the cutting and recovery of the shoots. Thus, in order to control the robot 500, a control part 502 is provided on the robot 500, and the control part 502 is in communication connection with the drone, so that the robot 500 can move within the orchard based on the above-mentioned parameter information. For example, robot 500 may move within an orchard range based on an orchard boundary acquired by the drone. Or the robot 500 may move to a position corresponding to a fruit tree based on the number of fruit tree planting and the fruit tree planting position acquired by the unmanned aerial vehicle.
In an embodiment of the present invention, robot 500 generally comprises a base, a trimming arm 506, a recovery arm 508, and a drive. The chassis 504 is used to carry, among other things, a trimming arm 506, a recovery arm 508 and a drive.
The chassis 504 may be configured in various forms such as a circle, a rectangle, etc., and the chassis 504 may be made of an aluminum alloy material in order to improve the structural strength of the chassis 504 and reduce the weight of the chassis 504.
In actual use, the chassis 504 may be placed on a cart to accomplish the adjustment of the position of the robot 500, or the chassis 504 may be equipped with road wheels 528 to achieve self-propulsion of the robot 500.
Referring to fig. 1-3, in the present embodiment, the chassis 504 is provided with road wheels 528, and the road wheels 528 are in transmission connection with the driving device. Four walking wheels 528 can be arranged, and four walking wheels 528 are respectively arranged at four corner positions on the chassis 504, so that the stability of the chassis 504 in the moving process can be improved. The road wheels 528 can be made of rubber, so that a certain vibration reduction effect can be realized. Meanwhile, the wear resistance of the road wheel 528 can be improved by using the road wheel 528 made of rubber. The hub of the road wheel 528 can be made of aluminum alloy, so that the structural strength of the road wheel 528 can be ensured.
According to one embodiment of the present invention, the ground wheel 528 is provided with a peg 530, the peg 530 being switchable between an extended position in which the peg 530 projects from a surface of the ground wheel 528 and a retracted position in which the peg 530 is retracted from the ground wheel 528 and flush with the surface of the ground wheel 528.
Referring to fig. 1 to 3, in order to prevent slipping of the road wheels 528 and to ensure the gripping ability of the road wheels 528, studs 530 are further provided on the road wheels 528, wherein the studs 530 are switchable between an extended position and a retracted position, and when the studs 530 are in the extended position, the end faces of the studs 530 protrude from the surface of the road wheels 528, such that the gripping ability of the road wheels 528 is increased by the studs 530 when the road wheels 528 rotate. When the peg 530 is in the retracted position, the end surface of the peg 530 is flush with the surface of the road wheel 528, which improves the stability and speed of operation of the road wheel 528 when the ground is relatively flat and dry.
Of course, in other embodiments, the above-mentioned purpose can be achieved in other ways, for example, the surface of the traveling wheel 528 may be provided with corresponding textures.
According to an embodiment of the present invention, the robot 500 further comprises an image capturing device 510, the image capturing device 510 is mounted on the chassis 504, the control portion 502 is in communication with the image capturing device 510 to adjust the operation mode of the image capturing device 510, the image capturing device 510 is adapted to capture image information of branches, and the trimming arm 506 and the recycling arm 508 are adapted to act based on the image information.
By arranging the image acquisition device 510, image information of branches can be acquired in real time, and in the embodiment of the invention, the image acquisition device 510 can adopt a binocular structured optical depth camera, so that the branch structure on a fruit tree can be identified. Meanwhile, after the image acquisition device 510 acquires the image information of the branches, corresponding branch distribution condition signals and branch diameter signals can be generated and sent to the control part 502, and after the control part 502 receives the branch distribution condition signals and the branch diameter signals, the branch shears 520 or the handsaw 522 can be selectively controlled to act so as to complete the cutting of the branches.
According to one embodiment of the present invention, a lift table is provided on the chassis 504, and the image capture device 510 is rotatably mounted to the lift table.
In order to facilitate the image acquisition device 510 to acquire images of branches in all directions, a lifting platform is further arranged on the chassis 504, the image acquisition device 510 is rotatably arranged on the lifting platform, through the arrangement, when the position of a branch is low, the lifting platform can descend, and when the position of a branch is high, the lifting platform can ascend, and meanwhile, because the image acquisition device 510 is rotatably arranged on the lifting platform, the image acquisition device 510 can acquire image information of the branch without dead angles.
Referring to fig. 1-3, one end of a trimming arm 506 is pivotally mounted to the chassis 504 and the other end is provided with a trimming assembly. One end of the trimming arm 506 is rotatably mounted on the chassis 504, so that the rotation angle of the trimming arm 506 can be adjusted, and branches in different directions can be trimmed by the trimming arm 506. In embodiments of the present invention, trimming arm 506 may be provided in the form of a two-piece robotic arm, which may increase the degree of freedom of trimming arm 506. The other end of the trimming arm 506 is provided with the trimming component, so that the trimming arm 506 faces branches in different directions through adjusting the angle of the trimming arm 506 in practical use, and then the trimming of the branches is completed through the trimming component.
In an embodiment of the present invention, the pruning assembly may comprise at least a pruner 520 and a hand saw 522, wherein the pruner 520 is movably connected to an end of the pruning arm 506 and drivingly connected to the drive; a hand saw 522 is telescopically coupled to the end of the trimming arm 506 and is drivingly connected to the drive.
Referring to fig. 1 and 2, by providing the pruning assembly with the pruning shears 520 and the hand saw 522, it is ensured that the pruning assembly can prune branches of different diameters accordingly. For example, pruning a branch can be accomplished using a pruning shears 520 when the diameter of the branch is less than 2.5 cm, and using a hand saw 522 when the diameter of the branch is greater than or equal to 2.5 cm. The pruning shears 520 and the hand saw 522 are in transmission connection with a driving device, and correspondingly, the driving device may include a hydraulic driving member and a motor. The hydraulic driving member is in transmission connection with the pruning shears 520, so that the shearing force of the pruning shears 520 can be improved, branches can be cut off by the pruning shears 520 more quickly, and the motor can use a reciprocating motor, so that the hand saw 522 can be driven to reciprocate rapidly to saw branches with larger diameters.
Further, it should be noted that the pruning shears 520 and the hand saw 522 may act based on image information. That is, the image information can be used to characterize the diameter of the branches, and accordingly, the pruning shears 520 and the hand saw 522 can implement actions based on the image information.
According to one embodiment of the present invention, a spray device 512 is disposed on at least one of the trimming arm 506 and the recovery arm 508; the working modes comprise a far-end mode, a near-end mode and a macro mode; wherein in the remote mode, the robot 500 is adapted to move based on the parameter information and the image information; in the proximal mode, the trimming arm 506 and the recovery arm 508 are adapted to act based on image information; in the macro mode, the spraying device 512 is adapted to spray the cut branches based on the image information.
In an embodiment of the present invention, spray device 512 may be disposed on trimmer arm 506. The spraying device 512 is arranged at the end part of the trimming arm 506, so that the trimmed branches can be sprayed, and the trimmed branches are prevented from being infected by plant diseases and insect pests. The medicine bottle can be directly hung at the end of the pruning arm 506, the medicine bottle is provided with a nozzle, and when the branches are completely pruned by the pruning shears 520 or the handsaw 522, the image acquisition device 510 can reposition the pruned branches and the pruned openings. At this time, the controller 502 may control the nozzle to complete the spraying process for the notch.
In the embodiment of the present invention, the image capturing device 510 at least has the following three different operation modes:
the first working mode is as follows: a remote mode;
in the remote mode, the robot 500 is adapted to move based on the parameter information and the image information.
In the remote mode, the control unit 502 switches the binocular structured light depth camera to the remote working mode, and the image acquisition device 510 acquires current orchard tree row information including different fruit tree positions between tree rows and on both sides between rows; the control part 502 controls the chassis 504 of the robot 500 to move to the vicinity of the fruit trees to be pruned, and the GPS information of each fruit tree is combined to position and correspondingly plan the yield of a single plant;
and a second working mode: a near-end mode;
in the proximal mode, the trimming arm 506 and the recovery arm 508 are adapted to act based on image information.
In the near-end mode, the control unit 502 switches the binocular structured light depth camera to the near-end mode, so as to obtain the distribution of the branch groups of the fruit tree to be pruned, determine the number of long, medium and short fruit branches, and generate the pruning scheme of the current plant according to the yield scheme decomposed into a single tree.
The control unit 502 controls the pruning arm 506 and the recovery arm 508 to prune and recover each branch group according to the current pruning plan of the plant.
And a third working mode: macro mode;
in macro mode, the spraying device 512 is adapted to spray the cut branches based on image information.
In the macro mode, that is, after the trimming arm 506 cuts or saws a branch, the control unit 502 switches the binocular structured optical depth camera to the macro mode, switches the image recognition algorithm to the branch fracture recognition mode to obtain the position information of the cut, and then controls the spraying device 512 to spray the cut treatment agent to the wound to prevent infection.
According to one embodiment of the invention, the end of the retrieval arm 508 is provided with a clamping assembly comprising at least two clamping members 514, the at least two clamping members 514 being rotatably arranged at the end of the retrieval arm 508 to clamp the cut shoots of the trimming arm 506 based on the image information.
Referring to fig. 1 to 3, the retrieval arm 508 is pivotally mounted at one end to the base plate 504 and at the other end is provided with a gripping assembly for gripping the branches cut by the cutting arm 506. One end of the recovery arm 508 is rotatably mounted on the chassis 504, so that the rotation angle of the recovery arm 508 can be adjusted, and the recovery arm 508 can recover branches in different directions and at different positions. In an embodiment of the present invention, the retrieving arm 508 may be configured as a two-segment mechanical arm, which may improve the degree of freedom of the retrieving arm 508. The other end of the recovery arm 508 is provided with a clamping assembly, so that the recovery arm 508 can face branches in different directions and different positions by adjusting the angle of the recovery arm 508 in practical use, and then the branches are clamped and recovered by the clamping assembly.
In the embodiment of the present invention, the clamping assembly includes at least two clamping members 514, for example, three clamping members 514 are provided, and the three clamping members 514 can be arranged at intervals, so as to improve the clamping stability of the branches. The clamping member 514 is in driving connection with a driving device, which may be a hydraulic driving member or an electric motor. After the branches are cut by the branch shears 520 or the handsaw 522, the image acquisition device 510 can identify the position of the cut branches and send the position information of the cut branches to the control part 502, the control part 502 can control the recovery arm 508 to act after receiving the position information of the cut branches, and then the clamping and recovery of the cut branches can be realized by controlling the clamping piece 514.
According to one embodiment of the present invention, the clamping member 514 is provided with an anti-slip layer.
The anti-slip layer is arranged on the clamping piece 514, so that the clamping piece 514 can be prevented from slipping when clamping the cut branches. The anti-skid layer can be a rubber pad, a silica gel pad and the like.
According to one embodiment of the invention, the chassis 504 is provided with a containing cavity 516, a crushing device 518 is arranged in the containing cavity 516, and after the branches are clamped by the at least two clamping pieces 514, the crushing device 518 is used for crushing the branches clamped by the clamping pieces 514.
By arranging the accommodating cavity 516 on the chassis 504, the cut branches can be directly put into the accommodating cavity to complete the recovery of the cut branches. A shredding device 518 can also be provided in the receiving cavity 516 to complete shredding of the cut branches. Can carry out shredding to the branch of cutting out that sends into in the reducing mechanism 518 through set up reducing mechanism 518 in holding chamber 516, the branch disintegrating slag after the processing sprays and covers to fruit tree trunk to in the moist soil of water conservation, suppression weeds reduce the orchard plant diseases and insect pests and take place.
According to an embodiment of the invention, an installation cavity 524 is formed in the chassis 504, at least two groups of batteries 526 are arranged in the installation cavity 524, the at least two groups of batteries 526 are in communication connection with the control portion 502, the control portion 502 is used for obtaining electric quantity information of the at least two groups of batteries 526, and the unmanned aerial vehicle is suitable for replacing the batteries 526 based on the electric quantity information.
Referring to fig. 2 and 3, in the embodiment of the present invention, a mounting cavity 524 is further provided on the base, wherein at least two sets of batteries 526 are provided in the mounting cavity 524. Taking the example of three batteries 526, three batteries 526 are disposed in the mounting cavity 524. One set of currently used batteries 526, one set of backup batteries 526, and the other set of rechargeable batteries 526. The control unit 502 is connected to the three sets of batteries 526 in a communication manner, and when the power of one of the batteries 526 is about to be exhausted, the control unit 502 may automatically switch the power supply battery 526 of the robot 500 to the backup battery 526, and simultaneously power off the currently used battery 526. Control portion 502 can give unmanned aerial vehicle with the thin information transmission of electric quantity of battery 526 of the electric quantity of being about to exhaust, and unmanned aerial vehicle can directly hang away the battery 526 of electric quantity of being about to exhaust in order to charge after receiving above-mentioned electric quantity information, then hoists back installation cavity 524 with the battery 526 after the electricity that will fill again.
Referring to fig. 4, a second embodiment of the present invention provides a method for using a pruning system for fruit trees, including:
and step 300, adjusting the working states of the trimming arm 506 and the recovery arm 508 based on the relative position of the robot 500 and the fruit tree.
According to the method for using the trimming system for fruit trees provided by the embodiment of the second aspect of the present invention, the unmanned aerial vehicle can acquire parameter information of the fruit trees, such as longitude and latitude, altitude, orchard outline, number of fruit trees, positioning information of each fruit tree, and crown width of each fruit tree, and the robot 500 can move relative to the fruit trees based on the above parameter information. When the robot 500 moves to the vicinity of a fruit tree, the pruning arm 506 and the recovery arm 508 can prune the branches based on the relative positions of the robot 500 and the fruit tree, and can also clamp and recover the branches pruned by the pruning arm 506. The use method of the pruning system for the fruit trees can reduce labor force for manually pruning the orchard, can improve the pruning efficiency for the orchard, and improves the intelligent degree of the pruning system.
In step 100, the fruit tree parameter information can be acquired through communication connection between the mobile phone and the unmanned aerial vehicle. As mentioned above, the parameter information of the fruit trees may include parameters such as longitude and latitude, altitude, orchard contour, number of fruit trees, positioning information of each fruit tree, and crown width of each fruit tree.
In step 200, the control unit 502 may adjust the relative position between the robot 500 and the fruit tree based on the parameter information, that is, the control unit 502 may obtain the position of the robot 500 relative to the fruit tree based on the parameter information, and may further control the robot 500 to move to the position of the fruit tree to be cut.
In step 300, when the robot 500 moves to the vicinity of a fruit tree, the trimming arm 506 and the recovery arm 508 may be controlled to operate based on the information of the fruit tree acquired by the image acquisition device 510. As described above, the image capturing device 510 obtains the branch group distribution of the fruit tree to be pruned, determines the number of long, medium and short fruit branches, and generates the pruning scheme of the current plant according to the yield scheme decomposed into a single tree.
The control unit 502 controls the pruning arm 506 and the recovery arm 508 to prune and recover each branch group according to the current pruning plan of the plant.
According to an embodiment of the present invention, further comprising:
and step 400, determining the working state of the unmanned aerial vehicle relative to the battery 526 based on the electric quantity information of the battery 526.
In step 400, when the power information of the battery 526 indicates that the power of the battery 526 is about to be exhausted, the drone may lift the battery 526 whose power is about to be exhausted to complete charging and replacing the battery 526.
Fig. 5 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 5: a processor 532 (processor), a communication Interface 534 (Communications Interface), a memory 536 (memory), and a communication bus 538, wherein the processor 532, the communication Interface 534, and the memory 536 are in communication with each other via the communication bus 538. The processor 532 may call logic instructions in the memory 536 to perform the following method:
acquiring parameter information of the fruit trees based on the unmanned aerial vehicle;
adjusting the relative position of the robot 500 and the fruit tree based on the parameter information;
based on the relative position of the robot 500 and the fruit tree, the working states of the trimming arm 506 and the recovery arm 508 are adjusted.
Furthermore, the logic instructions in the memory 536 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory 536 (ROM), a Random Access Memory 536 (RAM), a magnetic disk or an optical disk, and various media capable of storing program codes.
An embodiment of the present invention discloses a computer program product, which includes a computer program stored on a non-transitory computer readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, the computer can execute the methods provided by the above method embodiments, for example, the method includes:
acquiring parameter information of the fruit trees based on the unmanned aerial vehicle;
adjusting the relative position of the robot 500 and the fruit tree based on the parameter information;
based on the relative position of the robot 500 and the fruit tree, the working states of the trimming arm 506 and the recovery arm 508 are adjusted.
In another aspect, an embodiment of the present invention further provides a non-transitory computer readable storage medium, on which a computer program is stored, where the computer program is implemented by the processor 532 to execute the methods provided by the foregoing embodiments, for example, the methods include:
acquiring parameter information of the fruit trees based on the unmanned aerial vehicle;
adjusting the relative position of the robot 500 and the fruit tree based on the parameter information;
based on the relative position of the robot 500 and the fruit tree, the working states of the trimming arm 506 and the recovery arm 508 are adjusted.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions substantially or contributing to the related art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A pruning system for fruit trees, comprising:
the unmanned aerial vehicle is used for acquiring parameter information of the fruit trees;
a robot (500) provided with a control part (502), the control part (502) being in communication connection with the unmanned aerial vehicle to obtain the parameter information, the robot (500) being adapted to move based on the parameter information;
the robot (500) further comprises a chassis (504), and a pruning arm (506) and a recovery arm (508) which are arranged on the chassis (504), wherein the pruning arm (506) is suitable for pruning the branches, and the recovery arm (508) is suitable for recovering the branches sheared by the pruning arm (506);
the robot (500) further comprises an image acquisition device (510), the image acquisition device (510) is mounted on the chassis (504), the control part (502) is in communication connection with the image acquisition device (510) to adjust the working mode of the image acquisition device (510), the image acquisition device (510) is suitable for acquiring the image information of branches, and the pruning arm (506) and the recovery arm (508) are suitable for acting based on the image information;
a spray device (512) is disposed on at least one of the trimming arm (506) and the recovery arm (508);
the working modes comprise:
a distal mode in which the robot (500) is adapted to move based on the parameter information and the image information;
a proximal mode in which the trimming arm (506) and the recovery arm (508) are adapted to act based on the image information;
a macro mode in which the spraying device (512) is adapted to spray the cut branches based on the image information.
2. The trimming system for fruit trees according to claim 1, wherein the end of the retrieving arm (508) is provided with a clamping assembly comprising at least two clamping members (514), at least two of the clamping members (514) being rotatably arranged at the end of the retrieving arm (508) for clamping the branches sheared by the trimming arm (506) based on the image information.
3. The pruning system for fruit trees according to claim 2, wherein the chassis (504) is provided with an accommodating cavity (516), a crushing device (518) is arranged in the accommodating cavity (516), and after the branches are clamped by the at least two clamping pieces (514), the crushing device (518) is used for crushing the branches clamped by the clamping pieces (514).
4. The pruning system for fruit trees according to claim 1, wherein the pruning arm (506) comprises:
a pair of secateurs (520) movably connected to an end of the trimming arm (506);
a hand saw (522) telescopically connected to an end of the trimming arm (506);
the secateur (520) and the hand saw (522) are adapted to act relative to a twig based on the image information.
5. The pruning system for fruit trees according to any one of claims 1 to 4, wherein a mounting cavity (524) is provided on the chassis (504), at least two sets of batteries (526) are provided in the mounting cavity (524), at least two sets of batteries (526) are in communication connection with the control part (502), the control part (502) is used for acquiring the power information of at least two sets of batteries (526), and the unmanned aerial vehicle is adapted to replace the batteries (526) based on the power information.
6. The pruning system for fruit trees according to any one of claims 1 to 4, wherein a road wheel (528) is provided on the chassis (504), and a peg (530) is provided on the road wheel (528), the peg (530) being switchable between an extended position in which the peg (530) projects from a surface of the road wheel (528) and a retracted position in which the peg (530) is retracted from the road wheel (528) and is flush with the surface of the road wheel (528).
7. Use of the pruning system for fruit trees as defined in any one of claims 1 to 6, comprising:
acquiring parameter information of the fruit trees based on the unmanned aerial vehicle;
adjusting the relative position of the robot (500) and the fruit tree based on the parameter information;
adjusting the working state of the trimming arm (506) and the recovery arm (508) based on the relative position of the robot (500) and the fruit tree.
8. The method of using the pruning system for fruit trees according to claim 7, further comprising:
based on the charge information of the battery (526), the operating state of the drone relative to the battery (526) is determined.
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| CN115088500A (en) | 2022-09-23 |
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